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comparison scripts/control/dlqe.m @ 1002:9d405453900c

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[project @ 1994-12-26 22:01:15 by jwe]
author jwe
date Mon, 26 Dec 1994 22:01:15 +0000
parents 3470f1e25a79
children 3f257ab07921
comparison
equal deleted inserted replaced
1001:641c05eaed01 1002:9d405453900c
57 m = p'; 57 m = p';
58 l = (m*c')/(c*m*c'+sigv); 58 l = (m*c')/(c*m*c'+sigv);
59 else 59 else
60 [k, p, e] = dlqr (a', c', g*sigw*g', sigv, g*zz); 60 [k, p, e] = dlqr (a', c', g*sigw*g', sigv, g*zz);
61 m = p'; 61 m = p';
62 l = (m*c'+a\g*t)/(c*m*c'+sigv); 62 l = (m*c'+a\g)/(c*m*c'+sigv);
63 a = a-g*t/sigv*c; 63 a = a-g*t/sigv*c;
64 sigw = sigw-t/sigv*t'; 64 sigw = sigw-t/sigv;
65 endif 65 endif
66 66
67 p = a\(m-g*sigw*g')/a'; 67 p = a\(m-g*sigw*g')/a';
68 68
69 endfunction 69 endfunction